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Symbolic planning is a powerful technique to solve complex tasks that require long sequences of actions and can equip an intelligent agent with complex behavior. The downside of this approach is the necessity for suitable symbolic representations describing the state of the environment as well as the actions that can change it. Traditionally such representations are carefully hand-designed by experts for distinct problem domains, which limits their transferability to different problems and environment complexities. In this paper, we propose a novel concept to generalize symbolic actions using a given entity hierarchy and observed similar behavior. In a simulated grid-based kitchen environment, we show that type-generalized actions can be learned from few observations and generalize to novel situations. Incorporating an additional on-the-fly generalization mechanism during planning, unseen task combinations, involving longer sequences, novel entities and unexpected environment behavior, can be solved.

We present a unified and compact scene representation for robotics, where each object in the scene is depicted by a latent code capturing geometry and appearance. This representation can be decoded for various tasks such as novel view rendering, 3D reconstruction (e.g. recovering depth, point clouds, or voxel maps), collision checking, and stable grasp prediction. We build our representation from a single RGB input image at test time by leveraging recent advances in Neural Radiance Fields (NeRF) that learn category-level priors on large multiview datasets, then fine-tune on novel objects from one or few views. We expand the NeRF model for additional grasp outputs and explore ways to leverage this representation for robotics. At test-time, we build the representation from a single RGB input image observing the scene from only one viewpoint. We find that the recovered representation allows rendering from novel views, including of occluded object parts, and also for predicting successful stable grasps. Grasp poses can be directly decoded from our latent representation with an implicit grasp decoder. We experimented in both simulation and real world and demonstrated the capability for robust robotic grasping using such compact representation. Website: //nerfgrasp.github.io

Recent interactive segmentation methods iteratively take source image, user guidance and previously predicted mask as the input without considering the invariant nature of the source image. As a result, extracting features from the source image is repeated in each interaction, resulting in substantial computational redundancy. In this work, we propose the Feature Decoupling-Recycling Network (FDRN), which decouples the modeling components based on their intrinsic discrepancies and then recycles components for each user interaction. Thus, the efficiency of the whole interactive process can be significantly improved. To be specific, we apply the Decoupling-Recycling strategy from three perspectives to address three types of discrepancies, respectively. First, our model decouples the learning of source image semantics from the encoding of user guidance to process two types of input domains separately. Second, FDRN decouples high-level and low-level features from stratified semantic representations to enhance feature learning. Third, during the encoding of user guidance, current user guidance is decoupled from historical guidance to highlight the effect of current user guidance. We conduct extensive experiments on 6 datasets from different domains and modalities, which demonstrate the following merits of our model: 1) superior efficiency than other methods, particularly advantageous in challenging scenarios requiring long-term interactions (up to 4.25x faster), while achieving favorable segmentation performance; 2) strong applicability to various methods serving as a universal enhancement technique; 3) well cross-task generalizability, e.g., to medical image segmentation, and robustness against misleading user guidance.

Recently, there has been a growing interest in constructing deep learning schemes for Low-Light Vision (LLV). Existing techniques primarily focus on designing task-specific and data-dependent vision models on the standard RGB domain, which inherently contain latent data associations. In this study, we propose a generic low-light vision solution by introducing a generative block to convert data from the RAW to the RGB domain. This novel approach connects diverse vision problems by explicitly depicting data generation, which is the first in the field. To precisely characterize the latent correspondence between the generative procedure and the vision task, we establish a bilevel model with the parameters of the generative block defined as the upper level and the parameters of the vision task defined as the lower level. We further develop two types of learning strategies targeting different goals, namely low cost and high accuracy, to acquire a new bilevel generative learning paradigm. The generative blocks embrace a strong generalization ability in other low-light vision tasks through the bilevel optimization on enhancement tasks. Extensive experimental evaluations on three representative low-light vision tasks, namely enhancement, detection, and segmentation, fully demonstrate the superiority of our proposed approach. The code will be available at //github.com/Yingchi1998/BGL.

Class-incremental learning (CIL) has achieved remarkable successes in learning new classes consecutively while overcoming catastrophic forgetting on old categories. However, most existing CIL methods unreasonably assume that all old categories have the same forgetting pace, and neglect negative influence of forgetting heterogeneity among different old classes on forgetting compensation. To surmount the above challenges, we develop a novel Heterogeneous Forgetting Compensation (HFC) model, which can resolve heterogeneous forgetting of easy-to-forget and hard-to-forget old categories from both representation and gradient aspects. Specifically, we design a task-semantic aggregation block to alleviate heterogeneous forgetting from representation aspect. It aggregates local category information within each task to learn task-shared global representations. Moreover, we develop two novel plug-and-play losses: a gradient-balanced forgetting compensation loss and a gradient-balanced relation distillation loss to alleviate forgetting from gradient aspect. They consider gradient-balanced compensation to rectify forgetting heterogeneity of old categories and heterogeneous relation consistency. Experiments on several representative datasets illustrate effectiveness of our HFC model. The code is available at //github.com/JiahuaDong/HFC.

Benefiting from the sequence-level knowledge distillation, the Non-Autoregressive Transformer (NAT) achieves great success in neural machine translation tasks. However, existing knowledge distillation has side effects, such as propagating errors from the teacher to NAT students, which may limit further improvements of NAT models and are rarely discussed in existing research. In this paper, we introduce selective knowledge distillation by introducing an NAT evaluator to select NAT-friendly targets that are of high quality and easy to learn. In addition, we introduce a simple yet effective progressive distillation method to boost NAT performance. Experiment results on multiple WMT language directions and several representative NAT models show that our approach can realize a flexible trade-off between the quality and complexity of training data for NAT models, achieving strong performances. Further analysis shows that distilling only 5% of the raw translations can help an NAT outperform its counterpart trained on raw data by about 2.4 BLEU.

Federated Learning (FL) is a decentralized machine-learning paradigm, in which a global server iteratively averages the model parameters of local users without accessing their data. User heterogeneity has imposed significant challenges to FL, which can incur drifted global models that are slow to converge. Knowledge Distillation has recently emerged to tackle this issue, by refining the server model using aggregated knowledge from heterogeneous users, other than directly averaging their model parameters. This approach, however, depends on a proxy dataset, making it impractical unless such a prerequisite is satisfied. Moreover, the ensemble knowledge is not fully utilized to guide local model learning, which may in turn affect the quality of the aggregated model. Inspired by the prior art, we propose a data-free knowledge distillation} approach to address heterogeneous FL, where the server learns a lightweight generator to ensemble user information in a data-free manner, which is then broadcasted to users, regulating local training using the learned knowledge as an inductive bias. Empirical studies powered by theoretical implications show that, our approach facilitates FL with better generalization performance using fewer communication rounds, compared with the state-of-the-art.

Graph Neural Networks (GNN) has demonstrated the superior performance in many challenging applications, including the few-shot learning tasks. Despite its powerful capacity to learn and generalize from few samples, GNN usually suffers from severe over-fitting and over-smoothing as the model becomes deep, which limit the model scalability. In this work, we propose a novel Attentive GNN to tackle these challenges, by incorporating a triple-attention mechanism, \ie node self-attention, neighborhood attention, and layer memory attention. We explain why the proposed attentive modules can improve GNN for few-shot learning with theoretical analysis and illustrations. Extensive experiments show that the proposed Attentive GNN outperforms the state-of-the-art GNN-based methods for few-shot learning over the mini-ImageNet and Tiered-ImageNet datasets, with both inductive and transductive settings.

Learning with limited data is a key challenge for visual recognition. Few-shot learning methods address this challenge by learning an instance embedding function from seen classes and apply the function to instances from unseen classes with limited labels. This style of transfer learning is task-agnostic: the embedding function is not learned optimally discriminative with respect to the unseen classes, where discerning among them is the target task. In this paper, we propose a novel approach to adapt the embedding model to the target classification task, yielding embeddings that are task-specific and are discriminative. To this end, we employ a type of self-attention mechanism called Transformer to transform the embeddings from task-agnostic to task-specific by focusing on relating instances from the test instances to the training instances in both seen and unseen classes. Our approach also extends to both transductive and generalized few-shot classification, two important settings that have essential use cases. We verify the effectiveness of our model on two standard benchmark few-shot classification datasets --- MiniImageNet and CUB, where our approach demonstrates state-of-the-art empirical performance.

Multi-relation Question Answering is a challenging task, due to the requirement of elaborated analysis on questions and reasoning over multiple fact triples in knowledge base. In this paper, we present a novel model called Interpretable Reasoning Network that employs an interpretable, hop-by-hop reasoning process for question answering. The model dynamically decides which part of an input question should be analyzed at each hop; predicts a relation that corresponds to the current parsed results; utilizes the predicted relation to update the question representation and the state of the reasoning process; and then drives the next-hop reasoning. Experiments show that our model yields state-of-the-art results on two datasets. More interestingly, the model can offer traceable and observable intermediate predictions for reasoning analysis and failure diagnosis, thereby allowing manual manipulation in predicting the final answer.